Lifting device and X-ray imaging system

Abstract

The present application provides a lifting device and an X-ray imaging system. The lifting device comprises a fixed column, a movable column, an imaging device and a control device, wherein the movable column is connected to the fixed column and can move in a vertical direction relative to the fixed column, the imaging device is connected to the movable column and can move in a vertical direction relative to the movable column, and the control device controls at least one of the movable column and the imaging device to move based on a received control signal.

Description

Technical Field

[0001] The present invention relates to medical imaging technology, and more particularly to a lifting device and an X-ray imaging system. Background Art

[0002] In an X-ray imaging system, radiation from an X-ray source is directed toward a subject, which is typically a patient in medical diagnostic applications. A portion of the radiation passes through the subject and strikes a detector, which is divided into a matrix of discrete elements (e.g., pixels). The detector elements are read out to produce an output signal based on the amount or intensity of radiation striking each pixel area. The signal can then be processed to produce a medical image that can be displayed for inspection, which can be displayed in a display device of the X-ray imaging system.

[0003] For the retractable Overhead Tube Suspension (OTS) system, a separate wall stand with a detector is usually required. In order to meet the different shooting requirements of people of different heights and different parts of the body, the wall stand usually needs to be set at a height of more than 2 meters, and the current wall stand height cannot meet this requirement. In addition, the current wall stand also involves many problems. First, there are restrictions and requirements on the height of the scanning room. Second, during the transportation of the X-ray imaging system, the 2-meter wall stand is a big challenge for packaging and transportation. Moreover, there are high requirements for the installation and maintenance of the wall stand. Summary of the invention

[0004] The invention provides a lifting device and an X-ray imaging system.

[0005] An exemplary embodiment of the present invention provides a lifting device, which includes a fixed column, a movable column, an imaging device and a control device, wherein the movable column is connected to the fixed column and can move in a vertical direction relative to the fixed column, the imaging device is connected to the movable column and can move in a vertical direction relative to the movable column, and the control device controls the movement of at least one of the movable column and the imaging device based on a received control signal.

[0006] Optionally, the control device comprises a driving module, and the driving module is used to drive at least one of the movable column and the imaging device to move.

[0007] Specifically, the control device includes a braking module, and the braking module is used to brake one of the movable column and the imaging device when the driving module is working.

[0008] Furthermore, the braking module is further used to brake the movable column or the imaging device when the movable column or the imaging device moves to a preset height.

[0009] Furthermore, the driving module includes a motor, a rotating shaft, a driving reel and a bracket, the bracket is mounted on the fixed column, the rotating shaft is arranged on the bracket, and the motor can drive the driving reel to rotate around the rotating shaft.

[0010] Furthermore, the driving module further includes a synchronous wheel and a synchronous belt, the synchronous wheel is connected to the driving drum, and the motor drives the synchronous wheel to rotate through the synchronous belt wound around the synchronous wheel, thereby driving the driving drum to rotate.

[0011] Furthermore, the driving module further comprises a driving reel bearing and a rotating shaft bearing arranged between the rotating shaft and the driving reel, so that when the rotating shaft is braked, the driving reel can still rotate.

[0012] Furthermore, the driving module further includes a rotary bearing arranged between the rotating shaft and the bracket.

[0013] Furthermore, the driving module further includes an upper drum assembly, a lower pulley assembly, a first connecting rope, and a second connecting rope, the upper drum assembly is mounted on the movable column, the lower pulley assembly is mounted on the bottom of the movable column, one end of the first connecting rope is fixed to one side of the driving drum, the other end is wrapped around the lower pulley assembly and fixed to one side of the upper drum assembly, one end of the second connecting rope is fixed to the other side of the upper drum assembly, and the other end is fixed to the imaging device, wherein, when the motor is working and the imaging device is braked, the first connecting rope drives the movable column to move, and when the motor is working and the movable column is braked, the first connecting rope and the second connecting rope drive the imaging device to move.

[0014] Specifically, the first connecting rope includes a main connecting rope and an auxiliary connecting rope for protection, and the second connecting rope also includes a main connecting rope and an auxiliary connecting rope for protection.

[0015] Specifically, the first connecting rope and the second connecting rope are wound on the upper drum assembly in opposite directions, and when the upper drum assembly rotates to wind in one of the first connecting rope and the second connecting rope, the other of the first connecting rope and the second connecting rope is released.

[0016] Specifically, the braking module includes a first braking unit and a second braking unit, the first braking unit is used to connect with the rotating shaft to brake the movable column by braking the rotating shaft, and the second braking unit is used to connect with the upper roller assembly to brake the imaging device by braking the upper roller assembly.

[0017] Specifically, the control device further includes a first balancing module, which is used to balance the weight of the imaging device.

[0018] Furthermore, the first balancing module includes a balancing unit and a third connecting rope, one end of the third connecting rope is fixed to the other side of the driving drum, and the other end of the third connecting rope is fixed to the balancing unit.

[0019] Furthermore, the first connecting rope and the third connecting rope are wound on the driving drum in opposite directions, and when the driving drum rotates to wind in one of the first connecting rope and the third connecting rope, the other of the first connecting rope and the third connecting rope is released.

[0020] Specifically, the control device further comprises a second balancing module, which is used to balance the weight of the movable column assembly.

[0021] Furthermore, the second balancing module includes: a weight unit, a sprocket and a chain, the weight of the weight unit is roughly the weight of the movable column assembly, the sprocket is connected to the rotating shaft through a key, one end of the chain is connected to the weight unit, and the other end is connected to the movable pillar through the sprocket.

[0022] Furthermore, when the second brake unit brakes, the rotating shaft and the sprocket rotate along with the lifting and lowering of the movable column, and the weight unit moves in the vertical direction to balance the weight of the movable column.

[0023] Specifically, the control device further includes a position feedback module, which includes a first feedback unit and a second feedback unit. The first feedback unit is installed on the rotating shaft to send the position information of the rotating shaft to the control device, and the second feedback unit is connected to the upper reel assembly to send the position information of the upper reel assembly to the control device.

[0024] Specifically, the control device further includes a limit module, which includes a first limit unit installed on the movable column and a second limit unit installed on the fixed column, the first limit unit is used to limit the movable range of the imaging device, and the second limit unit is used to limit the movable range of the movable column.

[0025] Specifically, when the imaging device and the movable column are moved to the highest position, the imaging device can be more than 2 meters away from the ground.

[0026] Specifically, the lifting device further includes a moving wheel arranged at the bottom end of the fixed column.

[0027] An exemplary embodiment of the present invention provides an X-ray imaging system, the system comprising the lifting device as described above and a controller for sending a control signal to the control device.

[0028] Other features and aspects will become apparent from the following detailed description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present invention may be better understood by describing exemplary embodiments of the present invention in conjunction with the accompanying drawings, in which:

[0030] Figure 1 is a schematic diagram of an X-ray imaging system according to some embodiments of the present invention;

[0031] Figure 2 is a schematic diagram of a first state of a lifting device according to some embodiments of the present invention;

[0032] Figure 3 is based on Figure 2 A schematic diagram of a second state of the lifting device shown;

[0033] Figure 4 is a perspective view of a lifting device according to some embodiments of the present invention;

[0034] Figure 5 is based on Figure 4 A cross-sectional view of the lifting device shown along the CC direction;

[0035] Figure 6 is based on Figure 4 A partial enlarged view of part A of the lifting device shown;

[0036] Figure 7 is based on Figure 6 A cross-sectional view of portion A shown;

[0037] Figure 8 is based on Figure 4 A partial enlarged view of part B of the lifting device shown;

[0038] Fig. 9 are schematic diagrams of lifting devices according to other embodiments of the present invention; and

[0039] Fig.10 Schematic diagrams of lifting devices according to some further embodiments of the present invention. DETAILED DESCRIPTION

[0040] The specific embodiments of the present invention will be described below. It should be noted that in the specific description of these embodiments, in order to provide a concise description, it is impossible for this specification to provide a detailed description of all the features of the actual embodiments. It should be understood that in the actual implementation of any embodiment, just as in the process of any engineering project or design project, in order to achieve the specific goals of the developer and to meet system-related or business-related restrictions, various specific decisions are often made, and this will also change from one embodiment to another. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the content disclosed by the present invention, some changes such as design, manufacturing or production based on the technical content disclosed in this disclosure are just conventional technical means, and should not be understood as insufficient content of this disclosure.

[0041] Unless otherwise defined, the technical or scientific terms used in the claims and the specification shall have the usual meaning understood by persons with ordinary skills in the technical field to which the invention belongs. The words "first", "second" and similar words used in the patent application specification and the claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "One" or "one" and other similar words do not indicate a quantitative limitation, but indicate the existence of at least one. "Include" or "comprises" and other similar words mean that the elements or objects appearing before "include" or "comprises" include the elements or objects listed after "include" or "comprises" and their equivalent elements, and do not exclude other elements or objects. "Connected" or "connected" and other similar words are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0042] Figure 1 FIG. 1 shows an X-ray imaging system 100 according to some embodiments of the present invention. Figure 1 As shown, the X-ray imaging system 100 includes an X-ray source 104, a detector 106, and a control subsystem 108. In some embodiments, the X-ray imaging system 100 may be a fixed X-ray imaging system disposed in a fixed X-ray imaging room, or may be a mobile X-ray imaging system.

[0043] The X-ray source 104 may project X-rays 114 toward a desired region of interest in the object 102. Specifically, the X-ray source 104 may be positioned adjacent to a beam limiter 116, which is used to direct the X-rays 114 toward the desired region of interest in the object 102. At least a portion of the X-rays 114 may be attenuated by the object 102 and may be incident on the detector 106.

[0044] The control subsystem 108 includes a source controller (not shown in the figure) and a detector controller (not shown in the figure). The source controller is used to command the X-ray source 104 to emit X-rays 114 for image exposure. The detector controller is used to coordinate the control of various detector functions, for example, various signal processing and filtering functions can be performed, specifically, for initial adjustment of the dynamic range, interleaving of digital image data, etc. In some embodiments, the control subsystem 108 can provide power and timing signals for controlling the operation of the X-ray source 104 and the detector 106. Specifically, the control subsystem 108 can provide power and timing signals to the X-ray source 104 and / or the detector 106 by using a power supply 110 and one or more wired and / or wireless communication links 112, respectively, wherein the communication link 112 can correspond to a backplane bus, a local area network, a wide area network and / or the Internet, etc. In some embodiments, the power supply 110 includes one or more batteries. In addition, although Figure 1 It is shown that the power supply 110 is connected to the X-ray source 104 via a communication link, however, those skilled in the art will appreciate that the power supply 110 and the X-ray source 104 may also be directly coupled.

[0045] The control subsystem 108 can be configured and / or arranged to be used in different ways. For example, in some implementations, a single control subsystem 108 can be used; in other implementations, multiple control subsystems 108 are configured to work together (e.g., based on a distributed processing configuration) or individually, with each control subsystem 108 configured to handle specific aspects and / or functions, and / or process data used to generate models that are only used for specific medical imaging systems. In some implementations, the control subsystem 108 can be local (e.g., co-located with one or more X-ray imaging systems 100, such as within the same facility and / or the same local network); in other implementations, the control subsystem 108 can be remote and therefore can only be accessed via a remote connection (e.g., via the Internet or other available remote access technology). In a particular implementation, the control subsystem 108 can be configured in a cloud-like manner and can be accessed and / or used in a manner substantially similar to the way other cloud-based systems are accessed and used.

[0046] In some embodiments, the system 100 also includes a computing device 120, which can be configured to use the digitized signals to reconstruct one or more desired images and / or determine useful diagnostic information corresponding to the object being detected 102, wherein the computing device 120 may include one or more dedicated processors, graphics processing units, digital signal processors, microcomputers, microcontrollers, application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other appropriate processing devices.

[0047] In some embodiments, the system 100 further includes a storage device 122, and the computing device 120 can store the digitized signal in the storage device 122. For example, the storage device 122 can include a hard disk drive, a floppy disk drive, a compact disk read / write (CD-R / W) drive, a digital versatile disk (DVD) drive, a flash drive, and / or a solid-state storage device. The storage device is used to store a program that can be executed by the computer. When the computer executes the program, multiple components of the X-ray imaging system can perform operations corresponding to the above-mentioned imaging sequence. When the computer executes the program, a medical imaging method can also be executed to post-process the original image to obtain an optimized image after post-processing.

[0048] although Figure 1 The storage device 122, computing device 120, and control subsystem 108 are illustrated as separate devices, but in some embodiments, one or more of them may be combined into a single device to efficiently use floor space and / or meet anticipated imaging requirements.

[0049] In one embodiment, the system 100 further includes a display device 124 , which can be used to display the reconstructed image and / or diagnostic information, etc.

[0050] In one embodiment, the system 100 further includes an operator workstation 126, which allows a user to receive and evaluate the reconstructed image, and input control instructions (operation signals or control signals). The operator workstation 126 may include a user interface (or user input device), such as a keyboard, a mouse, a voice-activated controller, or any other suitable input device, and some form of operator interface, through which the operator can input operation signals / control signals to the control subsystem 108, such as one or more scanning parameters and / or request desired diagnostic information and / or images to evaluate the internal structure and / or function of the object 102 being examined.

[0051] Figure 2 1 shows a first state diagram of the lifting device 200 according to some embodiments of the present invention, Figure 3 Shows Figure 2 The second state diagram of the lifting device 200 is shown in FIG. Figure 2-3As shown, the lifting device 200 includes a fixed column 210 , a movable column 220 , a control device 300 and an imaging device 240 .

[0052] The movable column 220 is connected to the fixed column 210 and can move in the vertical direction relative to the fixed column 210. The imaging device 240 is connected to the movable column 220 and can move in the vertical direction relative to the movable column 220. The control device 300 can control the movement of at least one of the movable column 220 and the imaging device 240 based on the received control signal.

[0053] In some embodiments, the imaging device 240 includes a detector, an X-ray source (or an X-ray tube). Optionally, the imaging device 240 further includes a connecting arm 241 connecting it to a movable column. The rotation of the imaging device 240 can be achieved through the mechanical structure and electrical control inside the connecting arm 241. Since the rotation of the imaging device 240 does not fall within the scope of the improvement of the present invention, it will not be described here.

[0054] In some embodiments, the fixed column 210 is fixed to the ground through the base plate 211, and the movable column 220 is connected to the fixed column 210 through a movable connecting piece (not shown in the figure). Specifically, a movable track is provided in the fixed column 210 along the vertical direction, and a movable connecting piece that can move in the track is provided in the movable column 220. The movable connecting piece can move in the track of the fixed column to drive the movable column to move relative to the fixed column. In some embodiments, the movable connecting piece is a pulley, which includes four movable wheels. Similarly, the imaging device 240 and its arm 241 are also connected to the movable column 220 through a movable connecting piece (not shown in the figure).

[0055] Despite Figure 2-3 The imaging device 240 shown in the figure is defined as a detector, but those skilled in the art should know that the lifting device of the present invention can also be used to lift an X-ray source, for example Fig. 9 As shown, that is, the imaging device 240 can also be an X-ray tube and a beam limiter. In addition, the lifting device of the present invention can also be configured to be movable, for example, wheels are provided at the bottom of the support surface of the fixed column to move the lifting device.

[0056] In some embodiments, the control device 300 includes a control circuit board 301 for receiving control signals sent by the X-ray imaging system and controlling components or modules in the lifting device. Specifically, the control device 300 can receive control signals from a control subsystem (such as a Figure 1The control signal sent by the component 108 shown in the figure, for example, the control signal includes control signals such as the height and angle of the detector required in the current scan, and the control device 300 can set the detector at a preset height by setting a component in the lifting device.

[0057] The control logic set for the lifting device of the present invention is to control the movement of the imaging device first and then the movable column during the ascending process, and to control the movement of the movable column first and then the imaging device during the descending process. Specifically, during the ascending process, the control device 300 first controls the imaging device 240 to rise to a preset height relative to the movable column 220. If the imaging device 240 has reached the maximum height relative to the movable column 220 but still does not meet the preset height, the control device 300 starts to control the movable column 220 to move upward relative to the fixed column. During the upward movement of the movable column 220, the imaging device 240 still remains at the maximum height relative to the movable column 220. During the descent process, the control device 300 first controls the movable column 220 to move downward relative to the fixed column 210. When the movable column 220 drops to the minimum height relative to the fixed column 210 and still does not meet the preset height, the control device 300 controls the imaging device 240 to start descending relative to the movable column 220 until the preset height is reached. For example, the current position of the detector is 0.5 meters from the ground, and it needs to be raised to a height of 1.5 meters. The height of the movable column is set to 1.3 meters. The control device first controls the detector to rise to the highest position, and then controls the movable column to continue to rise until the detector is 1.5 meters from the ground. Through such a setting, the priority of control is defined, the control logic can be made clearer, and the control of the imaging device to reach the preset position is more convenient and saves time and effort. In some embodiments, during the ascent process, when the imaging device moves to the highest position, the control device automatically controls the movable column to move.

[0058] Although the present invention limits the control logic as described above, it should be known to those skilled in the art that other suitable control logics may also be provided, such as first raising the movable column and then raising the imaging device during the rising process, and first lowering the imaging device and then raising the movable column during the descent. Of course, it is also possible to first raise the movable column and then raise the imaging device during the rising process, and first lower the movable column and then raise the imaging device during the descent, or first raise the imaging device and then raise the movable column during the rising process, and first lower the imaging device and then raise the movable column during the descent. In addition, the control device may also determine the optimal control strategy based on the current position and target position of the imaging device. For example, based on the current position and the current position, the control device may directly control the movable column to be raised or lowered to the target height by only moving the movable column. Optionally, the control device may also control the movable column and the imaging device to be raised or lowered simultaneously so that the imaging device reaches the preset position as quickly as possible.

[0059] Figure 4 shows a perspective view of a lifting device 200 according to some embodiments of the present invention, Figure 5 Shown according to Figure 4 The cross-sectional view of the lifting device along the CC direction is shown. Figure 6 is based on Figure 4 The partially enlarged view of the A part of the lifting device 200 is shown. Figure 7 is based on Figure 6 The cross-sectional view of part A is shown. Figure 8 is based on Figure 4 The partial enlarged view of the lifting device 200 shown in FIG. Figure 4-8 For ease of display and description, Figure 4-8 The imaging device 240 is omitted. Figure 5 The connection relationship of the chain and some installation or wiring settings are omitted, and the balancing unit is simplified.

[0060] The control device 300 includes a driving module 310, and the driving module 310 is used to drive at least one of the movable column 220 and the imaging device 240 to move. In some embodiments, the driving module 310 is used to drive the movable column 220 or the imaging device 240 to move, and in other embodiments, the driving module 310 is used to drive the movable column 220 and the imaging device 240 to move together.

[0061] The control device 300 further includes a braking module 320, and the braking module 320 is used to brake one of the movable column 220 and the imaging device 240 when the driving module 310 is working. Specifically, when the driving module 310 is used to drive the movable column 220 or the imaging device 240 to move, the braking module 320 is used to brake the other of the movable column 220 and the imaging device 240 when the driving module 310 is working. For example, when the movable column 220 moves under the drive of the driving module 310, the braking module 320 brakes the imaging device 240, and when the imaging device 240 moves under the drive of the driving module 310, the braking module 320 brakes the movable column 220.

[0062] In addition, the brake module 320 is further used to brake the movable column 220 or the imaging device 240 when the movable column 220 or the imaging device 240 moves to a preset height. Specifically, when the movable column 220 moves to a preset height relative to the fixed column 210, based on the control signal of the control circuit board 301, the driving module 310 (motor 311) will stop rotating, but the pulley or other modules therein will slip or continue to move due to inertia, and the brake module 320 can further brake other modules to fix the movable column 220 or the imaging device 240 at the preset height, further improving the accuracy of positioning.

[0063] In some embodiments, the driving module 310 includes a motor 311, a rotating shaft 312, a driving reel 313 and a bracket 319. The bracket 319 is mounted on the fixed column 210, the rotating shaft 312 is disposed on the bracket 319, and the motor 311 can drive the driving reel 313 to rotate around the rotating shaft 312. Figure 6 and Figure 7 As shown, a bracket 319 is arranged on the fixed column 210, and the bracket 319 includes a bottom plate and two side plates extending in the vertical direction, and the two side plates each include an opening, and the rotating shaft 312 passes through the openings on the two side plates and is axially and circumferentially limited.

[0064] In some embodiments, the driving module 310 further includes a synchronous wheel 314 and a synchronous belt 315 , the synchronous wheel 314 is connected to the driving drum 313 , and the motor 311 drives the synchronous wheel 314 to rotate through the synchronous belt 315 wound around the synchronous wheel 314 , thereby driving the driving drum 313 to rotate.

[0065] The connecting component connected to the motor 311 adopts a driving reel, which can not only solve the problem of slipping of the connecting rope (especially the steel wire), but also accurately control the rotation distance (number of turns) of the motor, and then accurately control the height of the imaging device and / or the movable column.

[0066] In addition, the motor 311 includes a motor body 31a and a gear 31b. The motor body 31a can drive the gear 31b to rotate. The gear 31b drives the synchronous wheel 314 to rotate through the synchronous belt 315. Since the synchronous wheel 314 is key-connected to the driving reel 313, the rotation of the synchronous wheel 314 further drives the driving reel 313 to rotate. In other words, the driving reel 313 also rotates under the drive of the motor 311.

[0067] The term "key connection" refers to the circumferential fixation between the shaft and the parts on the shaft to transmit motion and torque by means of a key.

[0068] In some embodiments, the driving module 310 includes only one motor 311 , and the motor 311 can control the movement of one of the movable column and the imaging device.

[0069] Although in some embodiments of the present invention, the driving module includes only one motor 311, it should be understood by those skilled in the art that in other embodiments, the driving module 310 may include two motors, one of which controls the first driving drum, one end of the connecting rope is fixed on the first driving drum, and the other end is fixed on the movable column to control the movement of the movable column, and the other motor controls the second driving drum, one end of the connecting rope is fixed on the second driving drum, and the other end is fixed on the imaging device to control the movement of the imaging device. The setting of the motor can control the driving of the movable column and the imaging device to move simultaneously. Of course, the driving module can also include any number of motors to achieve different functions. For example, the rotation of the imaging device, etc. Although the motor in the driving module of the lifting device in some embodiments of the present invention drives the driving drum to rotate by driving the synchronous wheel, it should be understood by those skilled in the art that the motor can also be controlled to directly drive the driving drum to rotate without passing through the synchronous wheel or through other suitable control methods.

[0070] In some embodiments, the driving module 310 further includes a driving reel bearing and a rotating shaft bearing disposed between the rotating shaft 312 and the driving reel 313, so that when the rotating shaft is braked, the driving reel can still rotate. Figure 7 In the figure, component 316 represents the driving drum bearing and the rotating shaft bearing. By providing the bearing 316, the relative movement between the rotating shaft 312 and the driving drum 313 can be realized. For example, when the driving drum 313 rotates, the rotating shaft 312 can rotate with the driving drum 313, and the rotating shaft 312 can also be relatively stationary relative to the bracket 319. That is to say, when the brake unit 321 connected to the rotating shaft 312 works, the rotating shaft stops rotating, and at this time, the driving drum 313 can still rotate.

[0071] In some embodiments, the driving module 310 further includes a rotation bearing 317 disposed between the rotation shaft 312 and the bracket 319. Due to the rotation bearing 317, the rotation shaft 312 can rotate relative to the side plate of the bracket 319.

[0072] Please refer to Figure 5 It can be seen that the driving module 310 further includes an upper drum assembly 331, a lower pulley assembly 332, a first connecting rope 333 and a second connecting rope 334. The upper drum assembly 331 is installed on the movable column 220, and the lower pulley assembly 332 is installed at the bottom of the movable column 220. One end of the first connecting rope 333 is fixed to one side of the driving drum 313, and the other end is wound around the lower pulley assembly 332 and fixed to one side of the upper drum assembly 332. One end of the second connecting rope 334 is fixed to the other side of the upper drum assembly 331, and the other end is fixed to the imaging device 240. When the motor 311 is working and the imaging device 240 is braked, the first connecting rope 333 drives the movable column 220 to move. When the motor 311 is working and the movable column 220 is braked, the first connecting rope 333 and the second connecting rope 334 drive the imaging device 240 to move. Specifically, the other end of the first connecting rope 333 is sequentially wound around the lower pulley assembly 332 and the upper reel assembly 332 and then fixed on the arm 241 of the imaging device 240 .

[0073] The upper drum assembly can not only solve the problem of slippage of the connecting rope (especially the steel wire), but also accurately control the rotation distance (number of turns), thereby accurately controlling the height of movement of the imaging device and / or the movable column.

[0074] Specifically, the driving module 310 further includes an upper reel rotation shaft 337, and the upper reel assembly 331 can rotate around the upper reel rotation shaft 337. A bracket 339 is provided on the movable column 220, and the bracket 339 also includes a bottom plate and two side plates extending in the vertical direction, and the two side plates each include an opening, and the upper reel rotation shaft 337 passes through the openings on the two side plates and is axially and circumferentially limited, and the upper reel assembly 331 is provided between the two side plates.

[0075] In some embodiments, the first connection rope 333 and the second connection rope 334 are inextensible connection ropes, specifically, metal wires, more specifically, steel wires.

[0076] The first connecting rope 333 and the second connecting rope 334 are wound on the upper drum assembly 331 in opposite directions, and when the upper drum assembly 331 rotates to roll in one of the first connecting rope 333 and the second connecting rope 334, the other of the first connecting rope 333 and the second connecting rope 334 is released. Specifically, when the imaging device 240 rises, the second connecting rope 334 is rolled into the upper drum assembly 331, and the first connecting rope 333 is released. By winding the two connecting ropes in opposite directions in the drum, the control requirement can be achieved, and a compact design can be obtained to save the space occupied by the device.

[0077] Despite Figure 5-8 The first connecting rope 333 and the second connecting rope 334 are both shown as one connecting rope, but those skilled in the art should understand that the first connecting rope 333 may include a main connecting rope and an auxiliary connecting rope for protection, and the second connecting rope 334 may also include a main connecting rope and an auxiliary connecting rope for protection. Through such an arrangement, when one of the main connecting ropes breaks due to a fault, the auxiliary connecting rope can play a protective role.

[0078] Please refer to Figure 6 as well as Figure 8 As shown, the braking module 320 includes a first braking unit 321 and a second braking unit 322. The first braking unit 321 is used to cooperate with the rotating shaft 312 to brake the movable column 220 by braking the rotating shaft 312, and the second braking unit 322 is used to cooperate with the upper roller assembly 331 to brake the imaging device 240 by braking the upper roller assembly 331.

[0079] In some embodiments, the first brake unit 321 is mounted on the rotating shaft 312 , and the second brake unit 322 is mounted on the upper reel rotating shaft 337 .

[0080] In some embodiments, when one of the movable column 220 and the imaging device 240 moves, only one of the first brake unit 321 and the second brake unit 322 works (brakes). When the imaging device 240 reaches the preset position, both the movable column 220 and the imaging device 240 stop moving, and the first brake unit 321 and the second brake unit 322 work (brakes) at the same time.

[0081] Specifically, when the first brake unit 321 brakes and the second brake rotating unit 322 does not work (release), the rotating shaft 312 is locked and cannot rotate, and the upper drum assembly 331 can slide. At this time, the motor 311 can drive the driving drum 313 to rotate, and then drive the imaging device 240 to move in the vertical direction relative to the movable column 220 through the winding of the first connecting rope 333 in the driving drum 313. Conversely, when the second brake unit 322 brakes and the first brake rotating unit 321 does not work (release), the upper drum assembly 331 is locked and cannot rotate, and the rotating shaft 312 can rotate. At this time, the motor 311 can drive the driving drum 313 to rotate, and then drive the movable column 220 to move in the vertical direction relative to the fixed column 210 through the winding of the first connecting rope 333 in the driving drum 313. In other embodiments, when the imaging device rises to the highest position, even if the second braking unit 322 does not brake, since the distance of the connecting rope between the imaging device and the upper drum assembly 331 cannot be changed, the movable column 220 can also move in the vertical direction even if the second braking unit 322 does not brake.

[0082] In addition, when the first brake unit 321 and the second brake unit 322 are not working (released) at the same time, that is, the rotating shaft 312 can rotate, and the upper roller assembly 331 can also rotate, at this time, the movable column 220 and the imaging device 240 will move together. Taking the lifting as an example, the imaging device 240 is lifted first, and then the movable column 220 is lifted, and then the imaging device 240 is switched to lift until it reaches the preset position. In this process, due to resistance, the imaging device and the movable column are switched cyclically.

[0083] Through the cooperation of the two braking units, the present invention realizes that one motor controls the movement of two components (the movable column and the imaging device), thereby saving costs and improving control efficiency.

[0084] By providing two motors, or making both brake units inoperative, the movable column and the imaging device can be moved together (or simultaneously), so that the imaging device reaches the preset position as quickly as possible.

[0085] In some embodiments, the braking module 320 also includes a third braking unit (not shown in the figure), which is connected to the gear 31b of the motor 311 so that when the motor stops rotating, the gear 31b can stop rotating in time to improve the accuracy of control.

[0086] In some embodiments, please refer to Figure 4The control device 300 further includes a first balancing module 340, which is used to balance the weight of the imaging device 240. Specifically, the first balancing module 340 is used to balance the total weight of the imaging device 240 and the connecting arm 241.

[0087] The first balancing module 340 includes a balancing unit 341 and a third connecting rope 342, one end of the third connecting rope 342 is fixed to the other side of the driving drum 313, and the other end is fixed to the balancing unit 341. Specifically, the balancing unit 341 applies tension to the driving drum 313 through the third connecting rope 342. The balancing unit 341 is disposed at the lower portion of the fixed support 210, and the tension of the balancing unit 341 is set to balance the total weight of the imaging device 240 and the arm 241. The internal structure of the balancing unit 341 is not described in detail here.

[0088] The first connecting rope 333 and the third connecting rope 342 are wound on the driving drum 313 in opposite directions, and when the driving drum 313 rotates to wind in one of the first connecting rope 333 and the third connecting rope 342, the other of the first connecting rope 333 and the third connecting rope 342 is released. By winding the two connecting ropes in opposite directions on the drum, the control requirement can be achieved, and a compact design can be obtained, saving the space occupied by the device.

[0089] In some embodiments, the third connecting rope 342 also includes a main connecting rope and an auxiliary connecting rope for protection, so that when the main connecting rope breaks, the auxiliary connecting rope can play a protective role.

[0090] Although three connecting ropes are used in the present invention to respectively connect the driving drum and the upper drum assembly (the first connecting rope), the upper drum assembly and the imaging device (the second connecting rope), and the driving drum and the balancing unit (the third connecting rope), a person skilled in the art should understand that a single connecting rope may be used, with one end fixed to the balancing unit and the other end fixed to the imaging device or its connecting arm via the driving drum, the lower pulley assembly, and the upper drum assembly in sequence.

[0091] In addition, despite Figure 4 (as well as Figure 2 , Figure 3 , Figure 5 ) shows that the balancing unit 341 is arranged at the lower part of the fixed column and at the outer side of the fixed column, that is, exposed to the air. However, it should be understood by those skilled in the art that the balancing unit can also be arranged inside the fixed column or at any other suitable position.

[0092] In some embodiments, please refer to Figure 5 The control device 300 further includes a second balancing module 350 for balancing the weight of the movable column 220 .

[0093] The second balancing module 350 includes a weight unit 351, a sprocket 352 and a chain 353. The weight of the weight unit 351 is approximately the weight of the movable column 220 assembly. The sprocket 352 is connected to the rotating shaft 312 by a key. One end of the chain 353 is connected to the weight unit 351, and the other end is connected to the movable pillar 220 through the sprocket 352.

[0094] The weight of the movable column assembly further includes the outer shell of the movable column and some connecting parts and fixing parts therein.

[0095] In some embodiments, the sprocket 352 is key-connected to the rotating shaft 312 , and when the rotating shaft 312 rotates, the sprocket 352 can rotate accordingly.

[0096] although Figure 5 Only one sprocket is shown, but according to Figure 6 A partial enlarged view of Figure 7 As can be seen from the cross-sectional view, the second balancing module 350 includes two sprockets and two chains, one of which is arranged between the side plate and the driving drum 313, and the other is arranged between the other side plate and the synchronous wheel 314. However, a person skilled in the art should know that any number of sprockets and chains can be included, and the sprockets can also be arranged at different positions relative to the bracket 319, as long as the weight of the movable column 220 can be balanced.

[0097] although Figure 5 One end of the chain 353 is not connected, but a person skilled in the art should know that this end of the chain 353 can be connected to the bottom end of the movable support 220, or can be connected to a movable connection member (for example, a pulley, not shown in the figure) that can move the movable column 220 relative to the fixed column 220.

[0098] In some embodiments, when the second brake unit 322 brakes, the rotating shaft 312 and the sprocket 352 rotate along with the lifting and lowering of the movable column 220 , and the weight unit 351 moves in the vertical direction to balance the weight of the movable column 220 .

[0099] The second balancing module 350 serves as a counterweight for the movable column 220. By setting the first balancing module 340 and the second balancing module 350, on the basis of realizing the motorized control of the movable column, manual control of the movable column is further realized. In addition, due to the setting of the counterweight, the power demand of the motor is also reduced, and the lifting function can be realized using a motor with smaller power.

[0100] Please continue to refer to Figure 4The control device 300 further includes a position feedback module 360, which includes a first feedback unit 361 and a second feedback unit 362. The first feedback unit 361 is installed on the rotating shaft 312 to send the position information of the rotating shaft 312 to the control device 300 (control circuit board 301), and the second feedback unit 362 is connected to the upper reel assembly 331 to send the position information of the upper reel assembly 331 to the control device 300 (control circuit board 301). Specifically, the second feedback unit 362 is installed on the upper reel rotating shaft 337 to send the position information of the upper reel assembly 331 to the control device 300 (control circuit board 301). The position information includes the number of revolutions or distances of the rotating shaft (rotating shaft 312 and upper reel rotating shaft 337).

[0101] In some embodiments, the first feedback unit 361 and the second feedback unit 362 include encoders and potentiometers.

[0102] Please continue to refer to Figure 5 The control device 300 further includes a limit module 370, which includes a first limit unit 371 / 372 installed on the movable column 220 and a second limit unit 373 / 374 installed on the fixed column 210. The first limit unit 371 / 372 is used to limit the movable range of the imaging device 340, and the second limit unit 373 / 374 is used to limit the movable range of the movable column 220.

[0103] The first limiting unit 371 is installed on the upper side of the movable column 220 , the first limiting unit 372 is installed on the lower side of the movable column 220 , the second limiting unit 373 is installed on the upper side of the fixed column 210 , and the second limiting unit 374 is installed on the lower side of the fixed column 210 .

[0104] When the imaging device 240 and the movable column 220 are moved to the highest position, the distance between the imaging device 240 and the ground can exceed 2 meters. Specifically, the lifting device of the present invention can make the maximum height of the imaging device exceed 2 meters. When the imaging device 240 moves to the highest position relative to the movable column 220, that is, reaches the position of the first limit unit 371, and the movable column 220 also moves to the highest position relative to the fixed column 210, that is, reaches the position of the second limit unit 373, the distance between the imaging device 240 and the ground can exceed 2 meters.

[0105] Although two limiting units are provided on each column in the present invention, those skilled in the art should understand that any number of limiting units may be provided on each column.

[0106] Fig. 9 Schematic diagrams of lifting devices 400 of other embodiments of the present invention are shown. Figure 2 The lifting device 200 shown is different in that Fig. 9 The imaging device 440 in the lifting device 400 shown includes an X-ray source 441 and a beam limiter 442. The control device 300 can control the movement of the X-ray source 441 and the beam limiter 442 or the movement of the movable column 220.

[0107] Fig.10 Schematic diagrams of lifting devices 500 according to some further embodiments of the present invention are shown. Figure 2 The lifting device 200 shown is different in that Fig.10 The lifting device 500 shown further includes a moving wheel 512 disposed at the bottom end of the fixed column 210 .

[0108] Specifically, the moving wheel 512 is disposed at the bottom of the bottom plate 211. Fig.10 Only two moving wheels are shown in the figure, but those skilled in the art should understand that the lifting device 500 may include four moving wheels, and the lifting device 500 may also include any number of moving wheels.

[0109] By setting a moving wheel at the bottom of the lifting device, the lifting device can be moved at any time, and the control circuit board in the lifting device can also control the lifting device to move to a preset position based on the received command. Through such a setting, the OTS and the detector can cooperate to reach a preset position or angle, and one-click positioning can be achieved more conveniently.

[0110] The lifting device of some embodiments of the present invention can be used to lift detectors and X-ray sources, and can also be used in movable X-ray imaging systems, which can not only reduce the height requirements for the scanning room where the X-ray imaging system is installed, but also reduce the difficulty of packaging, transportation, assembly and maintenance, and no longer require lifting equipment. In addition, since the column is set as a fixed part and a movable part, the retractable design can meet greater height requirements, such as a position exceeding 2m.

[0111] The lifting device of some embodiments of the present invention only uses one motor and two brake units to directly control the movement of two different parts of the movable column or the imaging device, saving the cost of the motor and the weight of the column. By setting the control logic, the movement of the imaging device can be more efficiently controlled so that it can move to a preset height more accurately. In addition, due to the balancing modules (counterweights) set for the imaging device and the movable column respectively, not only manual control is added on the basis of the motorization of the column, the flexibility of control is increased, and because of the setting of the counterweight, the power of the motor does not need to be too large, and a low-power motor can achieve the lifting function.

[0112] As used herein, the term "computer" may include any processor-based or microprocessor-based system, including systems using microcontrollers, reduced instruction set computers (RISC), application specific integrated circuits (ASICs), logic circuits, and any other circuits or processors capable of performing the functions described herein. The above examples are exemplary only, and are thus not intended to limit the definition and / or meaning of the term "computer" in any way.

[0113] Some exemplary embodiments have been described above, however, it should be understood that various modifications may be made. For example, if the described techniques are performed in a different order and / or if the components in the described systems, architectures, devices, or circuits are combined in different ways and / or replaced or supplemented by other components or their equivalents, suitable results may be achieved. Accordingly, other implementations also fall within the scope of protection of the claims.

Claims

1. A lifting device, comprising: Fixed columns; A movable column connected to the fixed column and capable of moving in a vertical direction relative to the fixed column; an imaging device connected to the movable column and capable of moving in a vertical direction relative to the movable column; and a control device for controlling movement of at least one of the movable column and the imaging device based on the received control signal, The control device includes a driving module, and the driving module is used to drive at least one of the movable column and the imaging device to move. The driving module includes a motor, a rotating shaft, a driving reel and a bracket, wherein the bracket is mounted on the fixed column, the rotating shaft is arranged on the bracket, and the motor can drive the driving reel to rotate around the rotating shaft. Wherein, the driving module further comprises: an upper reel assembly mounted on the movable column; A lower pulley assembly mounted at the bottom of the movable column; A first connecting rope, one end of which is fixed to one side of the driving drum, and the other end of which is wound around the lower pulley assembly and fixed to one side of the upper drum assembly; and A second connecting rope, one end of which is fixed to the other side of the upper reel assembly, and the other end of which is fixed to the imaging device; Wherein, when the motor is working and the imaging device is braked, the first connecting rope drives the movable column to move; when the motor is working and the movable column is braked, the first connecting rope and the second connecting rope drive the imaging device to move.

2. The lifting device according to claim 1, wherein: The control device comprises a braking module, and the braking module is used to brake one of the movable column and the imaging device when the driving module is working.

3. The lifting device according to claim 2, wherein: The braking module is further used to brake the movable column or the imaging device when the movable column or the imaging device moves to a preset height.

4. The lifting device according to claim 1, wherein: The driving module further includes a synchronous wheel and a synchronous belt. The synchronous wheel is connected to the driving drum, and the motor drives the synchronous wheel to rotate through the synchronous belt wound around the synchronous wheel, thereby driving the driving drum to rotate.

5. The lifting device according to claim 1, wherein: The driving module further includes a driving reel bearing and a rotating shaft bearing disposed between the rotating shaft and the driving reel, so that when the rotating shaft is braked, the driving reel can still rotate.

6. The lifting device according to claim 1, wherein: The driving module further includes a rotary bearing disposed between the rotating shaft and the bracket.

7. The lifting device according to claim 1, wherein: The first connecting rope includes a main connecting rope and an auxiliary connecting rope for protection, and the second connecting rope also includes a main connecting rope and an auxiliary connecting rope for protection.

8. The lifting device according to claim 1, wherein: The first connection rope and the second connection rope are wound on the upper drum assembly in opposite directions, and when the upper drum assembly rotates to reel in one of the first connection rope and the second connection rope, the other of the first connection rope and the second connection rope is released.

9. The lifting device according to claim 2, wherein: The braking module includes a first braking unit and a second braking unit, the first braking unit is used to connect with the rotating shaft to brake the movable column by braking the rotating shaft, and the second braking unit is used to connect with the upper roller assembly to brake the imaging device by braking the upper roller assembly.

10. The lifting device according to claim 1, wherein: The control device further includes a first balancing module for balancing the weight of the imaging device.

11. The lifting device according to claim 10, wherein: The first balancing module includes a balancing unit and a third connecting rope, one end of the third connecting rope is fixed to the other side of the driving drum, and the other end of the third connecting rope is fixed to the balancing unit.

12. The lifting device according to claim 11, wherein: The first connection rope and the third connection rope are wound around the driving drum in opposite directions, and when the driving drum rotates to wind in one of the first connection rope and the third connection rope, the other of the first connection rope and the third connection rope is released.

13. The lifting device according to claim 10, wherein: The control device further comprises a second balancing module for balancing the weight of the movable column assembly.

14. The lifting device according to claim 13, wherein: The second balancing module comprises: a weight unit having a weight that is approximately the weight of the movable column assembly; a sprocket connected to the rotating shaft via a key; and A chain, one end of which is connected to the weight unit, and the other end of which is connected to the movable column through the sprocket.

15. The lifting device according to claim 14, wherein: When the second brake unit brakes, the rotating shaft and the sprocket rotate along with the lifting and lowering of the movable column, and the weight unit moves in the vertical direction to balance the weight of the movable column.

16. The lifting device according to claim 1, wherein: The control device further includes a position feedback module, which includes a first feedback unit and a second feedback unit. The first feedback unit is installed on the rotating shaft to send position information of the rotating shaft to the control device, and the second feedback unit is connected to the upper reel assembly to send position information of the upper reel assembly to the control device.

17. The lifting device according to claim 1, wherein: The control device further includes a limit module, which includes a first limit unit installed on the movable column and a second limit unit installed on the fixed column, the first limit unit is used to limit the movable range of the imaging device, and the second limit unit is used to limit the movable range of the movable column.

18. The lifting device according to claim 1, wherein: When the imaging device and the movable column are moved to the highest position, the imaging device can be more than 2 meters away from the ground.

19. The lifting device according to claim 1, wherein: The lifting device further includes a moving wheel arranged at the bottom end of the fixed column.

20. An X-ray imaging system, comprising: The lifting device according to any one of claims 1 to 19; as well as A controller is used to send a control signal to the control device.

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